Pith Number

pith:ED56BFTI

pith:2021:ED56BFTIB7NEWJPW4EPBU3P5XH

not attested not anchored not stored refs pending

Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry

Chongjian Yuan, Fu Zhang, Wei Xu, Xiaoping Hong, Xiyuan Liu

arxiv:2109.07082 v5 · 2021-09-15 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{ED56BFTIB7NEWJPW4EPBU3P5XH}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-07-05T04:38:34.137530Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

20fbe096680fda4b25f6e11e1a6dfdb9dd82a42438f29111c18313babfd1d80d

Aliases

arxiv: 2109.07082 · arxiv_version: 2109.07082v5 · doi: 10.48550/arxiv.2109.07082 · pith_short_12: ED56BFTIB7NE · pith_short_16: ED56BFTIB7NEWJPW · pith_short_8: ED56BFTI

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/ED56BFTIB7NEWJPW4EPBU3P5XH \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 20fbe096680fda4b25f6e11e1a6dfdb9dd82a42438f29111c18313babfd1d80d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "631152ad322651ad97cf5fb65daa4bd312fc8d6dc7209762f50d74a5ab29e438",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-15T05:13:25Z",
    "title_canon_sha256": "79643bf490ffb34619b2918f0b04fe2d4046deb583a18f030a970053cf57b7f0"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.07082",
    "kind": "arxiv",
    "version": 5
  }
}